Control method for cleaning robot in coal bunker

Abstract

The invention provides a control method for a cleaning robot in a coal bunker. The control method comprises the following steps: S1, acquiring a video stream of the inner side wall of a coal bunker through an image acquisition device; S2, performing image analysis on the video stream to obtain position information of wall-hanging coal to be cleaned; S3, mapping the position information to a two-dimensional coordinate system, and converting the position information into coordinate information; S4, setting a cleaning route based on the coordinate information; and S5, based on the cleaning route, sending an operation control signal to a motion control unit, and sending the operation control signal to a mechanical arm control unit. According to the control method for a cleaning robot in a coal bunker, intelligent control can be conducted on the coal bunker robot, in the whole bunker cleaning process, manual intervention is little, and wall-hanging coal in the coal bunker can be cleaned relatively efficiently.

Description

technical field [0001] The invention relates to a robot control method, in particular to a control method for a cleaning robot in a coal bunker. Background technique [0002] Coal bunkers are important facilities in the production and transportation links of coal-related production units. Especially today, with the continuous improvement of automation and mechanization, the safety requirements for coal mine production are getting higher and higher. The most likely problem in the coal bunker is the problem of caking coal on the inner wall of the bunker, and there are several reasons for this: 1) Therefore, when the coal is rich in moisture, it will adhere closely to the inner wall of the bunker Together, the wall sticking phenomenon occurs. Generally speaking, the increase of water content in coal will increase the probability of this wall sticking phenomenon. This is because the increase of water content in coal also increases the cohesiveness of coal, which makes the fluid...

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Problems solved by technology

3) Another reason for the sticking of the bunker is that the coal bunker is tilted during the placement process. If the tilt of the coal bunker exceeds a certain angle, the coal falling from the upper part will directly impact the inner wall of the bunker. If the inner wall of the bunker is at this time If it is uneven, it will cause sticking, and then the upper coal will continue to be hit and compacted to build up the shape

The other part is performed by the clearance robot. However, the current clearance robot is less intelligent, and most of the control processes require manual intervention.

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